Cold Brew Float with Eggnog Ice Cream

1. In a medium bowl, whisk together egg yolks and sugar.  
2. In a medium saucepan, whisk together milk, vanilla bean paste, cinnamon, cloves, and nutmeg. Heat over medium-low heat for 8 to 10 minutes or until mixture reaches a gentle simmer, stirring frequently.  
3. Pour ¼ of the hot milk mixture into the egg mixture; whisking continuously. Pour egg mixture into the pan. Continue heating and stirring constantly for 2 to 3 minutes or until mixture is thick and reaches 160°F. Do not boil. Transfer mixture to a large bowl. Cool completely in refrigerator. 
4.  In a medium bowl, beat heavy cream with an electric mixer on high until stiff peaks form; set aside. 
5.  Whisk sweetened condensed milk into egg mixture. Fold in whipped cream. Spread mixture into a 9×5-inch. loaf pan. Cover; freeze for 6 hours or until firm. 
6.  Scoop about ½ cup ice cream into each serving glass. Top with 2 Tbsp. cold brew. Garnish with whipped topping. 

Each serving contains: 310 calories, 19 g fat, 12 g saturated fat, 0.5 g trans fat, 130 mg cholesterol, 75 mg sodium, 30 g carbohydrates, 0 g fiber, 29 g sugar, 6 g protein. Daily values: 10% vitamin D, 15% calcium, 0% iron, 4% potassium.